Vehicle camera system

ABSTRACT

A vehicle camera system comprising: a camera arranged to capture image data from a field of view surrounding a host vehicle; a display arranged to display the image data; and a processor arranged to: determine the presence of obstructions in the field of view; and control the display to display the image data in dependence on the detection of obstructions in the field of view.

RELATED APPLICATIONS

This application is a 35 U.S.C. § 371 national stage application of PCTApplication No. PCT/EP2015/065613, filed on Jul. 8, 2015, which claimspriority from Great Britain Patent Application No. 1412232.9 filed onJul. 9, 2014, the contents of which are incorporated herein by referencein their entireties. The above-referenced PCT International Applicationwas published in the English language as International Publication No.WO 2016/005453 A1 on Jan. 14, 2016.

TECHNICAL FIELD

The present invention relates to a vehicle camera system. Aspects of theinvention relate to a vehicle camera system, a camera system for avehicle, a method and a vehicle.

BACKGROUND

Road vehicle drivers often encounter driving scenarios where their viewis obstructed by, for example, neighbouring vehicles, hedges, etc.Camera systems have been employed to aid the driver. The systems consistof cameras that obtain images for presentation inside the vehicle whenthe driver expresses a wish to see those images by pressing a switchinside the vehicle. The cameras are positioned at the front end of thevehicle and directed outwards in left and right directions. Imagesobtained by the cameras are presented to the driver via a conventionalscreen in the dashboard when the driver presses the switch. The camerasystem is thus able to provide the driver with a view relatively forwardof their eye position.

The driver may use information provided by the camera system to aid themin obstructed situations. For example, the driver might press the switchto engage the camera system when exiting a car parking space where carsare parked beside the driver. The driver can then use the presentedimages to inform their decision of whether it is safe or not to begin tomove out of the space before directly checking that it is safe tocompletely move out of the space. Similarly, the driver might press theswitch to engage the camera system when encountering a road junction,for example a T-junction. The driver can use the presented images toinform their decision of whether it is safe or not to begin to move outof or onto the junction before directly checking that it is safe toproceed.

The requirement on the driver to engage the camera system by pressing aswitch represents a burden to the driver, which sometimes leads todrivers forgetting to utilise the camera system or forgetting to turnthe camera system off. Aspects of the invention seek to mitigate theburden on the driver.

SUMMARY OF INVENTION

According to an aspect of the invention, there is provided a vehiclecamera system comprising:

a camera arranged to capture image data from a field of view surroundinga host vehicle;

a display arranged to display the image data; and

a processor arranged to:

-   -   determine the presence of obstructions in the field of view; and    -   control the display to display the image data in dependence on        the detection of obstructions in the field of view.

The system is particularly advantageous in that it automates the use ofcamera systems on the vehicle to enable the driver to see pastobstructions in their view.

Optionally, the processor is arranged to:

-   -   determine the speed of movement of the host vehicle; and    -   control the display to display the image data when the speed of        the host vehicle is below a predetermined threshold.

The processor may be arranged to:

-   -   determine the speed of movement of the host vehicle; and    -   prevent the display of image data when the speed of the host        vehicle is above a predetermined threshold.

In one embodiment, the processor is arranged to:

-   -   determine the location of the host vehicle; and    -   control the display to display the image data when the host        vehicle is at a predetermined location.

Alternatively, the processor is arranged to:

-   -   determine the location of the host vehicle; and    -   prevent the display of image data when the host vehicle is at a        predetermined location.

Optionally, the processor is arranged to:

-   -   determine the mode of the host vehicle; and    -   control the display to display the image data in dependence on        the mode of the host vehicle.

In one embodiment, the processor determines the presence of obstructionsin the field of view using an object detection algorithm wherein thefield of view is referenced against a known reference and determinationof the presence of obstructions in the field of view is made independence on differences found in the comparison.

The expected field of view may comprise a substantially empty threedimensional space having an expected depth.

In one embodiment, the camera is positionable at the front of the hostvehicle and the field of view encompasses a view perpendicular to aforward facing of the host vehicle.

In another embodiment, the camera is positionable at the rear of thehost vehicle and the field of view encompasses a view perpendicular to arearward facing of the host vehicle.

Optionally, a further camera is arranged to capture further image datafrom a further field of view surrounding the host vehicle, wherein thedisplay is arranged to display the further image data and the processoris arranged to:

-   -   determine the presence of obstructions in the further field of        view;    -   control the display to display the further image data in        dependence on the detection of obstructions in the field of        view,        wherein the processor is arranged to:    -   determine a direction heading of the host vehicle; and    -   control the display to display one of the image data or the        further image data in dependence on the direction heading.

Optionally, the vehicle camera system comprises a wide angle lenswherein the field of view is equal to or greater than 180°.

In one embodiment, the vehicle camera system comprises an overrideswitch operable to control the display to display or not display theimage data.

According to another aspect of the invention, there is provided a methodfor selectively displaying information to a driver of a host vehicle,the method comprising:

-   -   capturing image data from a field of view surrounding the host        vehicle;    -   determining the presence of obstructions in the field of view;        and    -   displaying the image data in dependence on the detection of        obstructions in the field of view.

The method may comprise:

-   -   determining the speed of movement of the host vehicle; and    -   controlling the display to display the image data when the speed        of the host vehicle is below a predetermined threshold.

Optionally, the method comprises:

-   -   determining the location of the host vehicle; and    -   controlling the display to display the image data when the host        vehicle is at a predetermined location.

Alternatively, the method comprises:

-   -   determining the location of the host vehicle; and    -   preventing the display of image data when the host vehicle is at        a predetermined location.

In another embodiment, the method comprises:

-   -   determining the mode of the host vehicle; and    -   controlling the display to display the image data in dependence        on the mode of the host vehicle.

According to another aspect of the invention, there is provided avehicle camera system arranged to perform the method of the foregoingaspect.

According to yet another aspect of the invention, there is provided ahost vehicle comprising a vehicle camera system according to a foregoingaspect.

Within the scope of this application it is expressly intended that thevarious aspects, embodiments, examples and alternatives set out in thepreceding paragraphs, in the claims and/or in the following descriptionand drawings, and in particular the individual features thereof, may betaken independently or in any combination. That is, all embodimentsand/or features of any embodiment can be combined in any way and/orcombination, unless such features are incompatible. The applicantreserves the right to change any originally filed claim or file any newclaim accordingly, including the right to amend any originally filedclaim to depend from and/or incorporate any feature of any other claimalthough not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by wayof example only, with reference to the accompanying drawings, in which:

FIG. 1 schematically shows a vehicle and vehicle camera system accordingto an embodiment of the invention;

FIG. 2 schematically shows the vehicle of FIG. 1 at a T-junctionscenario;

FIG. 3 schematically shows the vehicle of FIG. 1 in a car parking space;

FIG. 4 is a flow-diagram of a method of operation of a vehicle camerasystem according to an embodiment of the invention;

FIG. 5 is a flow-diagram of a method of operation of a vehicle camerasystem according to an embodiment of the invention;

FIG. 6 is a flow-diagram of a method of operation of a vehicle camerasystem according to an embodiment of the invention;

FIG. 7 is a flow-diagram of a method of operation of a vehicle camerasystem according to an embodiment of the invention;

DETAILED DESCRIPTION

A vehicle 1 having a vehicle camera system 10 according to an embodimentof the present invention is shown in FIG. 1. The vehicle camera system10 comprises a camera 12, a processor 14 and a display 16. The camera 12is positioned at the front of the vehicle and has a lens 18 to provide afield of view FOV_c that includes a view perpendicular to the forwarddirection of facing of the vehicle. The camera has a field of view whichincludes a view similar to that observed by a driver 2 of the vehicle 1when looking to their left or right, for example, out of the sidewindows 20 of the vehicle. Two cameras may be used each to provide oneof the left or right views. Alternatively one camera may have a field ofview that encompasses both the left and right views as described furtherbelow.

The camera 12 captures image data, which is passed to the processor 14,which processes the image data to determine the presence of anobstruction in the field of view FOV_c. In some embodiments of theinvention, the processor controls the display to display the image datawhen an obstruction is detected. The displayed image data can be used bythe driver to aid their vision past the obstruction or occlusion intheir field of view.

Example scenarios where the camera system may be used by the driverinclude exiting a junction, as schematically shown in FIG. 2, andexiting a car parking space, as schematically shown in FIG. 3. In thesescenarios there are often obstructions to the driver's view caused byobjects such as hedges, trees, other cars, and the like. The driver of avehicle not equipped with a camera system according to embodiments ofthe present invention, has to, in these scenarios, cautiously move thevehicle forward to see past obstructions in their view beforedetermining whether it is safe to proceed further. Where the driver isaided by a camera system according to embodiments of the presentinvention, the driver is able to use the images displayed on the display16 to determine whether they may begin to move their vehicle so as tosee directly past the obstruction.

FIG. 2 shows a schematic situation where the driver 2 is at a T-junctionwhere a hedge 30 obscures the driver's view to the right hand side ofthe car. The camera 12 captures image data from the field of view FOV_c.The image data is passed to the processor 14, which processes the imagedata to determine the presence of the hedge 30 in the field of viewFOV_c. The processor processes the image data using an object detectionalgorithm wherein the field of view is compared to an expected field ofview and determination of the presence of the hedge in the field of viewFOV_c is made in dependence on differences found in the comparison. Thisoperation may also be termed as referencing the field of view against aknown reference view.

The expected, or reference, field of view is an empty space of apredefined depth, for example, 10 m. As schematically shown in FIG. 2,the captured image data reveals the hedge 30 in the image data at, forexample, 1.5 m from the camera 12. Comparison of the expected field ofview with the captured image data thus indicates the presence of anobject, namely the hedge 30, at 1.5 m from the vehicle. On determiningthe presence of the object in the field of view, the processor 14controls the display 16 to display the image data.

In embodiments according to the invention, the processor 14 controls thedisplay 16 to only display the image data when the object is determinedto be in the driver's view required to exit the junction. For this, theposition of the object 30 in the image data is calculated using a knownreference point in the image data. For example, where the field of viewFOV_c encompasses a front portion 32 of the vehicle 1, the front portionforms a known point in the image data. In other arrangements, the fieldof view is known by calibration of the field of view of the camera 12 sothat the position of an object in the field can be directly determinedwithout reference to the position of a known reference point. If theposition of the object is such that the detected object lies in a lineof site of the driver, the object is determined to be an obstruction inthe driver's view. With reference to FIG. 2, the hedge is shown to bepresent in the rearward, that which is closest to the driver, part ofthe field of view FOV_c. The hedge is thus determined to obstruct thedriver's view and so the processor 14 controls the display 16 to displaythe image data.

In some embodiments of the invention, the camera 12 captures a series ofimages, each at timed intervals, on approach to a junction. Theprocessor is configured to process each image in the series anddetermine whether or not an object is present in each image.

In some embodiments according to the invention, the system comprises avehicle speed sensor arranged to provide vehicle speed data to theprocessor. In some example embodiments, the vehicle speed sensor is thesensor present as standard in vehicles to indicate the speed to thedriver. In other embodiments, the vehicle speed sensor is separate tothe standard vehicle speed sensor. In an example, the vehicle speed datais used by the processor to determine whether the vehicle is approachinga junction. Approach to a junction typically involves braking andtherefore deceleration of the vehicle. The processor distinguishesjunction approach from, for example, braking for cornering by comparingthe vehicle speed to an approach speed threshold. In an exampleembodiment, the approach speed threshold is set at 5 mph (8 kph).However, other speeds in the range 0 to 10 mph may be used.

In embodiments where the processor has input from a vehicle speedsensor, a position of each captured image can be determined with respectto the current position of the vehicle using distance=speed×time. Theprocessor is provided with a measurement of the distance between thecamera 12 and the approximate position of the driver's head such that itmay determine images in the series relevant to the driver. This isparticularly useful, for example, where the driver drives up to ajunction that is flanked by a hedge which, at the junction is not in thefield of view of the camera 12 but is in the field of view of thedriver.

In an example embodiment, on determining that the vehicle speed hasdecreased below the approach speed threshold, the processor configuresthe camera to begin to capture the series of images described above. Inanother example embodiment, on determining that the vehicle speed hasdecreased below the approach speed threshold, the processor configuresdisplay to display the images captured by the camera. It is to beappreciated that in some embodiments, the determination of the vehiclespeed decreasing below the approach speed threshold initiates thecapturing of the series of images and permits the display of images.Thus, if the speed increases above the threshold, the processorconfigures the display to not display the images captured.

In an example embodiment, the system comprises a forward looking camerasituated in the windscreen or otherwise. On approach to a junction, asindicated by slowing the vehicle, the forward looking camera looks forhorizontal lines showing that a junction is ahead. In some embodiments aspeed threshold is used to begin the search. In other exampleembodiments, data from a navigation system is used to pre-calculate theapproximate location of junctions and activate the forward lookingcamera when the distance to the approximate location falls below apredetermined threshold. This may be, for example, 60 m. Other distancesare also usable.

In an example embodiment, the system monitors the vehicle speed so thatwhen the speed reduces below a threshold speed, for example 10 kph, 6mph, the system uses ultrasonic sensors, radar sensors and surroundcameras to detect obstructions around the vehicle. This is describedfurther below in relation to FIG. 7.

Example systems use the front camera in combination with the side cameraand history from the forward looking camera to calculate the height ofany such obstruction from the ground plane. The ground plane iscalculated using an object detection algorithm on data taken from thesurround and forward looking cameras. Should the obstruction impair thedrivers view, as calculated using known vehicle geometry, the systemdisplays images taken from one or more of the side facing cameras.Cameras are chosen based on the location of the obstruction.

In some embodiments, the processor also monitors the vehicle speed inrelation to an exit speed threshold such that when the vehicle speedincreases above the exit speed threshold, the processor configures thedisplay to not display the images captured by the camera. This featureenables the system to turn off the display or configure the display tonot display the captured images after the driver has exited the junctionor the like. In an example embodiment, the exit speed threshold is setto 10 mph. However, other speeds in the range 5 to 15 mph may be used.It should be noted that the approach speed threshold and the exit speedthreshold may have the same value, for example 5 mph, and be met onlywhen the speed is decreasing in respect of the approach speed threshold,and increasing in respect of the exit speed threshold.

FIG. 3 schematically shows a scenario where the vehicle 1 is parked in acar parking space 40 and positioned between adjacently parked cars 42.As schematically shown, the driver's field of view FOV_d is obstructedto at least the right hand side by one of the parked cars. The camera 12captures images which are processed by the processor 14 usingaforementioned techniques to determine that the parked car is in thecamera field of view FOV_c and therefore in the driver's field of viewFOV_d and thus an obstruction to the driver's view. On determining thepresence of the obstruction, the processor 14 configures the display 16to display the images captured by the camera 12.

The camera 12 described above is shown and described as positioned atthe front of the vehicle 1 and to include in the field of view FOV_c aview perpendicular to the direction of facing of the vehicle 1. In someembodiments of the invention, the camera 12 comprises a field of viewincluding opposing views perpendicular to the direction of facing of thevehicle. The camera field of view FOV_c is thus more than 180 degrees.In an example embodiment, the camera field of view FOV_c is 190 degrees.In some embodiments, a wide angle lens, for example a fish eye lens orsimilar, is used to provide the wide field of view. In theseembodiments, the camera has a field of view that includes a viewequivalent to right and left hand view from the direction of facing ofthe car. Image flattening algorithms can be used to flatten the imageobtained from the 180 degree or greater view so as to make the imagessuitable for reproduction in the vehicle.

The camera 12 may also be positioned at the rear of the vehicle 50 (seeFIG. 1) so as to aid the driver when reversing the vehicle. In someembodiments of the invention, the camera system comprises a camera at aforward location of the vehicle and a camera at a rearward location ofthe vehicle.

The operation of the vehicle camera system is further described withreference to FIG. 4, which schematically shows a flow diagram of thedecisions made by an example system according to an embodiment of theinvention. As described above, inputs 102, 104 from one or more camerasis used to determine whether the driver's view is occluded at 106. Thesystem then determines at 108 whether the vehicle speed is below athreshold which is indicative of a situation where the system may beused.

At step 110 the example system determines whether the vehicle is in alocation where the system should or has previously been deactivated.Accordingly, in some embodiments of the invention, the processor is ableto determine the location of the vehicle 1 and configure the display todisplay or not display captured images accordingly. The processor maydetermine the location directly using a global positioning system GPSsensor or may use data retrieved from a GPS sensor positioned on thevehicle for other purposes such as satellite navigation, for example. Ondetermining the location of the vehicle 1, the processor compares thedetermined location to a list of known locations in a lookup tablestored in a memory of the processor. Those known locations may be placeswhere the camera system should not display images, such as the garagewhere the car is stored. Known locations may be entered in the lookuptable by the driver 2 through interaction with the processor via thedisplay. Locations entered into the lookup table, as indicating placesto display or not display images, can be deleted from the lookup table.

In example embodiments, the processor is able to learn known locationswhere the system should be deactivated. An override switch is providedon or near to the display 16 so that the driver can selectivelydeactivate the system. The system stores in its memory the location ofthe vehicle at the point where the system was deactivated. After thesystem has been deactivated a predefined number of times in a certainlocation, the processor adds that location to the lookup table. A marginof error in the location approximately equal to the known error in theGPS sensor is applied to the location in the lookup table so that aninaccurate reading of the location of the vehicle does not lead to thelocation evading the deactivated location in the table. The number oftimes the system must be deactivate in order for the location to beadded to the lookup table is at least two times. In an exampleembodiment, the location is added to the lookup table after the systemhas been deactivated in that location on three occasions.

In another example embodiment, the system may determine that the driverhas not deactivated the system in a location where the system has beenpreviously deactivated, but not added to the lookup table, and may as aresult subtract from the total number of deactivations in that location.For example, the system may have been deactivated two times when thevehicle was positioned at a particular junction. On the next occasionthe vehicle was at the junction, the driver chose not to deactivate thesystem because, for example, a new obstruction was present. Theprocessor recognises that the driver has not deactivated the system andadjusts the record of the total number of deactivations to one time. Insome embodiments, the processor may reset the total number ofdeactivations on occasion of the driver not deactivating the system.

Returning to FIG. 4, the example system continues to 112 if the vehicleis not in a disabled or deactivated location. At step 112, the systemdetermines the drive mode of the vehicle. Accordingly, in someembodiments of the invention, the processor is arranged to determine themode of the vehicle. The mode is also known as the driving mode andincludes for example, reverse, drive, park, and so on. In an exampleembodiment, a standard vehicle control unit outputs the drive mode,which is input to the processor. On determining the drive mode, theprocessor is arranged to proceed beyond step 112. If the processordetermines the drive mode is park, the processor does not proceed beyondstep 112. This is because park mode is indicative of the driver notwishing to move the car and accordingly, no images are required by thedriver.

In an example embodiment, on determining that the vehicle is in drivemode, the processor configures the display to display images obtainedfrom the camera at the front of the vehicle because drive mode isindicative of the driver wishing to move the vehicle forwards.Similarly, on determining that the vehicle is in reverse mode, theprocessor configures the display to display images obtained from thecamera at the rear of the vehicle because reverse mode is indicative ofthe driver wishing to move the vehicle backwards.

In some embodiments of the present invention, the processor is arrangedto determine the direction of movement of the vehicle 114. In an exampleembodiment, an accelerometer is used to measure the movement of thevehicle and the measurement passed to the processor. The direction ofmovement of the vehicle is used to determine which camera should beselected 116, 118 by the processor to obtain images for display on thescreen at 120. This embodiment is useful, for example, in manual carswhere the vehicle might be parked on a slope and the driver's view isoccluded. The driver might not necessarily select a mode of operation ofthe vehicle, for example by selecting gear, and instead might releasethe brake and allow the vehicle to move out of the parked position bygravitational force alone. Therefore, the accelerometer may be used inconjunction with the mode sensor so that where no mode is selected, theprocessor remains able to determine the intended movement of the car toanalyse and present images accordingly.

FIG. 5 illustrates a method of operation of an example vehicle camerasystem. The processor according to the system of FIG. 5 has a memory sothat following vehicle start-up 130, the system can determine from theprocessor memory whether the driver's view was obstructed on shut downof the vehicle at 132. This is particularly useful in circumstances suchas where the vehicle has been driven into a parking location where thedriver's view is occluded but on parking, the camera field of view FOV_cis clear and does not contain obstruction. On start-up the processor'smemory is accessed to determine if the driver's view is likely to beoccluded. Assuming the view is occluded, the system proceeds to steps110 to 120 as described in relation to FIG. 4.

Some embodiments of the system also comprise a driver-view camera at aposition proximal to the driver's view. In an example embodiment, thedriver-view camera is mounted at or near to the driver's door,optionally near to the door handle so as to align close to the driver'shead. In another example embodiment, the driver-view camera is mountedin the driver's head rest so as to align close to the driver's head. Inanother example embodiment the driver-view camera is mounted on the sideof the vehicle.

The driver-view camera is arranged to capture images of a viewperpendicular to the driver's forward facing at a position proximal tothe driver's head such that the images obtained by the camera areequivalent to the view observed by the driver when looking out of theirside windows. The processor processes the driver-view images todetermine the presence of objects in, and therefore obstructions to, thedriver's view. On determining the presence of obstructions to thedriver's view, the processor continues to determine the driving mode thevehicle is in and therefore the direction of intended driving. Theprocessor then configures the display to display images obtained fromthe camera relevant to the driver's intention.

FIG. 6 shows the method performed by a system featuring a driver-view,or door view, camera. At 140 the system determines whether thedriver-view is occluded using the door view camera. If the driver-viewcamera is occluded then the system proceeds to steps 110 to 120 asdescribed in relation to FIG. 4 or 5.

It should be appreciated that steps 102 to 120 in FIGS. 4 to 6 and steps130, 132 and 140, can be completed simultaneously or in an orderdifferent to the examples shown in FIGS. 4 to 6.

FIG. 7 shows an example system diagram. Inputs to the processor 214include a driver-view or side camera video 202, a front or rear cameravideo 212, side facing ultrasonic sensors 204, a navigation system orGPS sensor 206, radar sensors, and a forward looking camera sensor 210.The processor uses the inputs to determine, at 216, whether the side ofthe vehicle is obstructed, and classify the junction/scenario at 240.

In example embodiments the system uses the inputs from the ultrasonicsensors 204, navigation or GPS sensors 206, radar or pdc sensors, orother proximity sensors to augment information provided by the camerasystem. In an example, a confidence metric is used to confirmobstructions. In this each positive detection of an obstructionincreases the confidence in the detection. It follows that each negativedetection decreases the confidence. A confidence threshold may beemployed to minimise false positive overall system obstructiondetection.

In an example embodiment a confidence threshold of 80% is required toconfirm the presence of an obstruction. Object detection algorithmsusing camera inputs may, for example, provide a confidence score of 75%associated with each positive detection. Other sensors may have a lowerassociated confidence score of, for example, 20%. Thus in embodiments acombination of a positive camera object detection and a positiveultrasonic sensor object detection may give a confidence score of 95%and overcome the threshold to positively identify an object.

In another example embodiment, an obstruction is detected by the camera,ultrasonic sensor and pdc sensor while the radar sensor finds noobstruction. Assuming the exemplary confidence scores given above theoverall confidence score is again 95%. In another example, anobstruction is detected by the camera and ultrasonic sensor while thepdc sensor and radar sensor find no obstruction. In this example theoverall confidence score is 55% so the threshold confidence value is notmet. Other confidence scores and thresholds may be employed.

In example embodiments, the vehicle camera system is located on or in anon road vehicle. In other example embodiments, the vehicle camera systemis located on or in an off road vehicle.

The invention claimed is:
 1. A processor for a vehicle camera systemhaving one or more cameras, the processor configured to: receive imagedata captured by a camera of the camera system, the image data providinga camera field of view surrounding a host vehicle, wherein the camerafield of view is from, a first position local to the host vehicle andcomprises a view perpendicular to a facing direction of the hostvehicle; determine a presence of an obstruction using camera systemimage data captured by the camera of the camera system; determinewhether a condition is satisfied, wherein satisfaction of the conditionrequires a determination that the obstruction obstructs a portion of afield of view of a driver of the host vehicle, wherein the driver fieldof view is from a second position local to the host vehicle, differentfrom the first position, and the obstructed portion of the field of viewof the driver is to a side of the host vehicle and is visible from thecamera image data; and control a display to display the image datacomprising the obstructed portion of the field of view of the driver toat least the driver in dependence on determining that the condition issatisfied, wherein the processor is configured to not display the imagedata when the condition is not satisfied, wherein the processordetermines the presence of the obstruction using an object detectionalgorithm that compares the camera system image data with a knownreference having a reference field of view that comprises an empty spaceof a predefined depth and the determination of the presence of theobstruction is made in dependence on differences found in thecomparison.
 2. The processor of claim 1, further configured to;determine a speed of movement of the host vehicle; and control thedisplay to display the image data when the speed of the host vehicle isbelow a predetermined threshold.
 3. The processor of claim 1, fartherconfigured to: determine a speed of movement of the host vehicle; andprevent the display of the image data when the speed of the host vehicleis above a predetermined threshold.
 4. The processor of claim 1, furtherconfigured to: determine a location of the host vehicle; and control thedisplay to display the image data when the host vehicle is at apredetermined location or prevent the display of the image data when thehost vehicle is at a predetermined location.
 5. The processor of claim1, further configured to: determine a mode of the host vehicle; andcontrol the display to display the image data in dependence on the modeof the host vehicle.
 6. A vehicle camera system comprising: one or morecameras, including a first camera configured to capture image datasurrounding a host vehicle, the image data providing a camera field ofview surrounding a host vehicle, wherein the camera field of view isfrom a first position local to the host vehicle and comprises a viewperpendicular to a facing direction of the host vehicle; a displayconfigured to display the image data; and a processor arranged to:determine a presence of an obstruction using camera system image datacaptured by the camera of the camera system; determine whether acondition is satisfied, wherein satisfaction of the condition requires adetermination that the obstruction obstructs a portion of a field ofview of a driver of the host vehicle, wherein the driver field of viewis from a second position local to the host vehicle, different from thefirst position, and the obstructed portion of the field of view of thedriver is to a side of the host vehicle and is visible from the cameraimage data; and control the display to display the image data comprisingthe obstructed portion of the field of view of the driver to at leastthe driver in dependence on determining that the condition is satisfied,wherein the processor is configured to not display the image data whenthe condition is not satisfied, wherein the processor determines thepresence of the obstruction using an object detection algorithm thatcompares the camera system image data with a known reference having areference field of view that comprises an empty space of a predefineddepth and the determination of the presence of the obstruction is madein dependence on differences found in the comparison.
 7. The vehiclecamera system of claim 6, wherein the first camera is positionable at afront of the host vehicle and wherein the captured image data comprisesa view perpendicular to a forward facing view of the host vehicle. 8.The vehicle camera system of claim 6, wherein the first camera ispositionable at a rear of the host vehicle, and wherein the capturedimage data comprises a view perpendicular to a rearward facing view ofthe host vehicle.
 9. The vehicle camera system of claim 6, the one ormore cameras further comprising a farther camera configured to capturefurther image data from a further field of view surrounding the hostvehicle, wherein the display is configured to display the further imagedata and wherein the processor is further configured to: determine apresence of a second obstruction in the further field of view; controlthe display to display the further image data in dependence ondetermining the presence of the second obstruction in the further fieldof view, determine a direction heading of the host vehicle; and controlthe display to display one of the image data or the further image datain dependence on the direction heading.
 10. The vehicle camera system ofclaim 9, wherein the further camera is positionable at a rear of thehost vehicle and wherein the captured image data comprises a viewperpendicular to a rearward facing view of the host vehicle.
 11. Thevehicle camera system of claim 6, wherein the camera comprises a wideangle lens, and wherein the camera field of view is equal to or greaterthan 180°.
 12. The vehicle camera, system of claim 6, further comprisingan override switch operable to control the display to display or notdisplay the image data.
 13. The vehicle camera system of claim 6,further comprising one or more sensors, and wherein the processor isconfigured to: determine a presence of an obstruction in a field of viewof the one or more sensors, wherein each determined presence carries anassociated confidence score and wherein each confidence scorecontributes to a confidence total, wherein the processor is configuredto control the display to display the image data in dependence on acomparison of the confidence total with a confidence threshold.
 14. Amethod for selectively displaying information to a driver of a hostvehicle, the method comprising: receiving image data captured by acamera of a vehicle camera system having one or more cameras, the imagedata providing a camera field of view surrounding the host vehicle,wherein the camera field of view is from a first position local to thehost vehicle and comprises a view perpendicular to a facing direction ofthe host vehicle; determining a presence of an obstruction using camerasystem image data captured by the camera of the vehicle camera system,and using an object detection algorithm wherein the camera system imagedata is compared with a known reference having a reference field of viewthat comprises an empty space of a predefined depth, and whereindetermining the presence of the obstruction is made in dependence ondifferences found in the comparison; determining whether a condition issatisfied, wherein satisfaction of the condition requires adetermination that the obstruction obstructs a portion of a field ofview of the driver of the host vehicle, wherein the driver field of viewis from a second position local to the host vehicle, different from thefirst position, and the obstructed portion of the field of view of thedriver is to a side of the host vehicle and is visible from the cameraimage data; and displaying the image data comprising the obstructedportion of the field of view of the driver to at least the driver independence on determining that the condition is satisfied, wherein theimage data is not displayed when the condition is not satisfied.
 15. Themethod of claim 14, further comprising: determining a speed of movementof the host vehicle; and controlling a display to display the image datawhen the speed of the host vehicle is below a predetermined thresholdand/or preventing the display of image data when the speed of the hostvehicle is above the predetermined threshold.
 16. The method of claim14, further comprising: determining a location of the host vehicle; andcontrolling a display to display the image data when the host vehicle isat a predetermined location or preventing the display of the image datawhen the host vehicle is at the predetermined location.
 17. The methodof claim 14, further comprising: determining a mode of the host vehicle;and controlling a display to display the image data in dependence on themode of the host vehicle.